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Honda Long Tune

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firestar5683
2026-05-03 12:37:07 -05:00
parent 8ddf2b4757
commit 5bc24ff148
2 changed files with 163 additions and 53 deletions
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opendbc_repo/opendbc/car/honda/carcontroller.py
+113 -44
View File
@@ -1,14 +1,26 @@
import math
import numpy as np
from opendbc.can import CANPacker
from opendbc.car import Bus, DT_CTRL, rate_limit, make_tester_present_msg, structs
from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, DT_CTRL, rate_limit, make_tester_present_msg, structs
from opendbc.car.honda import hondacan
from opendbc.car.honda.values import CAR, CruiseButtons, HONDA_BOSCH, HONDA_BOSCH_CANFD, HONDA_BOSCH_RADARLESS, \
HONDA_BOSCH_TJA_CONTROL, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams, HondaFlags
from opendbc.car.honda.values import (
CAR,
CruiseButtons,
HONDA_BOSCH,
HONDA_BOSCH_CANFD,
HONDA_BOSCH_RADARLESS,
HONDA_BOSCH_TJA_CONTROL,
HONDA_NIDEC_ALT_PCM_ACCEL,
CarControllerParams,
HondaFlags,
)
from opendbc.car.interfaces import CarControllerBase
VisualAlert = structs.CarControl.HUDControl.VisualAlert
LongCtrlState = structs.CarControl.Actuators.LongControlState
def get_civic_bosch_modified_torque_lpf_tau(torque_cmd: float, prev_torque_cmd: float, v_ego: float) -> float:
torque_delta = abs(float(torque_cmd) - float(prev_torque_cmd))
torque_cmd_abs = abs(float(torque_cmd))
@@ -51,8 +63,9 @@ def get_civic_bosch_modified_torque_lpf_tau(torque_cmd: float, prev_torque_cmd:
return 0.18
def get_civic_bosch_modified_steering_pressed(raw_pressed: bool, steering_torque: float, torque_cmd: float,
filter_s: float, was_pressed: bool) -> tuple[float, bool]:
def get_civic_bosch_modified_steering_pressed(
raw_pressed: bool, steering_torque: float, torque_cmd: float, filter_s: float, was_pressed: bool
) -> tuple[float, bool]:
torque_product = steering_torque * torque_cmd
torque_cmd_abs = abs(torque_cmd)
@@ -76,6 +89,41 @@ def get_civic_bosch_modified_steering_pressed(raw_pressed: bool, steering_torque
return filter_s, steering_pressed
def get_honda_bosch_wind_brake_mps2(v_ego: float) -> float:
return float(np.interp(v_ego, [0.0, 13.4, 22.4, 31.3, 40.2], [0.000, 0.049, 0.136, 0.267, 0.441]))
def update_honda_bosch_live_learning(
gas_factor: float,
wind_factor: float,
wind_factor_before_brake: float,
desired_accel: float,
actual_accel: float,
gas_pedal_force: float,
wind_brake_mps2: float,
brake_pressed: bool,
v_ego: float,
) -> tuple[float, float, float]:
accel_error = desired_accel - actual_accel
if accel_error != 0.0 and gas_pedal_force > 0.0:
gas_factor = float(np.clip(gas_factor + accel_error / 50.0 * gas_pedal_force, 0.1, 3.0))
if accel_error != 0.0 and not brake_pressed and v_ego > 0.0:
wind_adjust = 1.0 + wind_brake_mps2 / 1000.0
if accel_error > 0.0:
wind_factor = float(np.clip(wind_factor * wind_adjust, 0.1, 3.0))
else:
wind_factor = float(np.clip(wind_factor / wind_adjust, 0.1, 3.0))
if gas_pedal_force <= 0.0:
wind_factor = max(wind_factor, wind_factor_before_brake)
else:
wind_factor_before_brake = wind_factor
return gas_factor, wind_factor, wind_factor_before_brake
def compute_gb_honda_bosch(accel, speed):
# TODO returns 0s, is unused
return 0.0, 0.0
@@ -101,18 +149,18 @@ def compute_gas_brake(accel, speed, fingerprint):
# TODO not clear this does anything useful
def actuator_hysteresis(brake, braking, brake_steady, v_ego, car_fingerprint):
# hyst params
brake_hyst_on = 0.02 # to activate brakes exceed this value
brake_hyst_on = 0.02 # to activate brakes exceed this value
brake_hyst_off = 0.005 # to deactivate brakes below this value
brake_hyst_gap = 0.01 # don't change brake command for small oscillations within this value
brake_hyst_gap = 0.01 # don't change brake command for small oscillations within this value
# *** hysteresis logic to avoid brake blinking. go above 0.1 to trigger
if (brake < brake_hyst_on and not braking) or brake < brake_hyst_off:
brake = 0.
braking = brake > 0.
brake = 0.0
braking = brake > 0.0
# for small brake oscillations within brake_hyst_gap, don't change the brake command
if brake == 0.:
brake_steady = 0.
if brake == 0.0:
brake_steady = 0.0
elif brake > brake_steady + brake_hyst_gap:
brake_steady = brake - brake_hyst_gap
elif brake < brake_steady - brake_hyst_gap:
@@ -129,7 +177,7 @@ def brake_pump_hysteresis(apply_brake, apply_brake_last, last_pump_ts, ts):
# - there is an increment in brake request
# - we are applying steady state brakes and we haven't been running the pump
# for more than 20s (to prevent pressure bleeding)
if apply_brake > apply_brake_last or (ts - last_pump_ts > 20. and apply_brake > 0):
if apply_brake > apply_brake_last or (ts - last_pump_ts > 20.0 and apply_brake > 0):
last_pump_ts = ts
# once the pump is on, run it for at least 0.2s
@@ -162,10 +210,10 @@ class CarController(CarControllerBase):
self.tja_control = CP.carFingerprint in HONDA_BOSCH_TJA_CONTROL
self.braking = False
self.brake_steady = 0.
self.brake_last = 0.
self.brake_steady = 0.0
self.brake_last = 0.0
self.apply_brake_last = 0
self.last_pump_ts = 0.
self.last_pump_ts = 0.0
self.stopping_counter = 0
self.accel = 0.0
@@ -177,6 +225,10 @@ class CarController(CarControllerBase):
self.prev_torque_cmd = 0.0
self.steering_pressed_filter_s = 0.0
self.steering_pressed_robust_prev = False
self.bosch_gas_factor = 1.0
self.bosch_wind_factor = 1.0
self.bosch_wind_factor_before_brake = 0.0
self.pitch = 0.0
def _modified_civic_standard_active(self) -> bool:
return self.CP.carFingerprint == CAR.HONDA_CIVIC_BOSCH and bool(self.CP.flags & HondaFlags.EPS_MODIFIED)
@@ -197,6 +249,9 @@ class CarController(CarControllerBase):
hud_control = CC.hudControl
hud_v_cruise = hud_control.setSpeed / CS.v_cruise_factor if hud_control.speedVisible else 255
pcm_cancel_cmd = CC.cruiseControl.cancel
if len(CC.orientationNED) == 3:
self.pitch = CC.orientationNED[1]
hill_brake = math.sin(self.pitch) * ACCELERATION_DUE_TO_GRAVITY
if CC.longActive:
accel = actuators.accel
@@ -227,16 +282,14 @@ class CarController(CarControllerBase):
self.steering_pressed_robust_prev = False
# *** rate limit steer ***
limited_torque = rate_limit(torque_cmd, self.last_torque, -self.params.STEER_DELTA_DOWN * DT_CTRL,
self.params.STEER_DELTA_UP * DT_CTRL)
limited_torque = rate_limit(torque_cmd, self.last_torque, -self.params.STEER_DELTA_DOWN * DT_CTRL, self.params.STEER_DELTA_UP * DT_CTRL)
self.last_torque = limited_torque
# *** apply brake hysteresis ***
pre_limit_brake, self.braking, self.brake_steady = actuator_hysteresis(brake, self.braking, self.brake_steady,
CS.out.vEgo, self.CP.carFingerprint)
pre_limit_brake, self.braking, self.brake_steady = actuator_hysteresis(brake, self.braking, self.brake_steady, CS.out.vEgo, self.CP.carFingerprint)
# *** rate limit after the enable check ***
self.brake_last = rate_limit(pre_limit_brake, self.brake_last, -2., DT_CTRL)
self.brake_last = rate_limit(pre_limit_brake, self.brake_last, -2.0, DT_CTRL)
# vehicle hud display, wait for one update from 10Hz 0x304 msg
alert_fcw, alert_steer_required = process_hud_alert(hud_control.visualAlert)
@@ -244,8 +297,7 @@ class CarController(CarControllerBase):
# **** process the car messages ****
# steer torque is converted back to CAN reference (positive when steering right)
apply_torque = int(np.interp(-limited_torque * self.params.STEER_MAX,
self.params.STEER_LOOKUP_BP, self.params.STEER_LOOKUP_V))
apply_torque = int(np.interp(-limited_torque * self.params.STEER_MAX, self.params.STEER_LOOKUP_BP, self.params.STEER_LOOKUP_V))
# Send CAN commands
can_sends = []
@@ -263,27 +315,18 @@ class CarController(CarControllerBase):
# all of this is only relevant for HONDA NIDEC
max_accel = np.interp(CS.out.vEgo, self.params.NIDEC_MAX_ACCEL_BP, self.params.NIDEC_MAX_ACCEL_V)
# TODO this 1.44 is just to maintain previous behavior
pcm_speed_BP = [-wind_brake,
-wind_brake * (3 / 4),
0.0,
0.5]
pcm_speed_BP = [-wind_brake, -wind_brake * (3 / 4), 0.0, 0.5]
# The Honda ODYSSEY seems to have different PCM_ACCEL
# msgs, is it other cars too?
if not CC.longActive:
pcm_speed = 0.0
pcm_accel = int(0.0)
elif self.CP.carFingerprint in HONDA_NIDEC_ALT_PCM_ACCEL:
pcm_speed_V = [0.0,
np.clip(CS.out.vEgo - 3.0, 0.0, 100.0),
np.clip(CS.out.vEgo + 0.0, 0.0, 100.0),
np.clip(CS.out.vEgo + 5.0, 0.0, 100.0)]
pcm_speed_V = [0.0, np.clip(CS.out.vEgo - 3.0, 0.0, 100.0), np.clip(CS.out.vEgo + 0.0, 0.0, 100.0), np.clip(CS.out.vEgo + 5.0, 0.0, 100.0)]
pcm_speed = float(np.interp(gas - brake, pcm_speed_BP, pcm_speed_V))
pcm_accel = int(1.0 * self.params.NIDEC_GAS_MAX)
else:
pcm_speed_V = [0.0,
np.clip(CS.out.vEgo - 2.0, 0.0, 100.0),
np.clip(CS.out.vEgo + 2.0, 0.0, 100.0),
np.clip(CS.out.vEgo + 5.0, 0.0, 100.0)]
pcm_speed_V = [0.0, np.clip(CS.out.vEgo - 2.0, 0.0, 100.0), np.clip(CS.out.vEgo + 2.0, 0.0, 100.0), np.clip(CS.out.vEgo + 5.0, 0.0, 100.0)]
pcm_speed = float(np.interp(gas - brake, pcm_speed_BP, pcm_speed_V))
pcm_accel = int(np.clip((accel / 1.44) / max_accel, 0.0, 1.0) * self.params.NIDEC_GAS_MAX)
@@ -303,21 +346,43 @@ class CarController(CarControllerBase):
if self.CP.carFingerprint in HONDA_BOSCH:
self.accel = float(np.clip(accel, self.params.BOSCH_ACCEL_MIN, self.params.BOSCH_ACCEL_MAX))
self.gas = float(np.interp(accel, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V))
gas_pedal_force = self.accel
if self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:
wind_brake_mps2 = get_honda_bosch_wind_brake_mps2(CS.out.vEgo)
if (actuators.longControlState == LongCtrlState.pid) and (not CS.out.gasPressed):
gas_pedal_force += wind_brake_mps2 * self.bosch_wind_factor + hill_brake
self.bosch_gas_factor, self.bosch_wind_factor, self.bosch_wind_factor_before_brake = update_honda_bosch_live_learning(
self.bosch_gas_factor,
self.bosch_wind_factor,
self.bosch_wind_factor_before_brake,
self.accel,
CS.out.aEgo,
gas_pedal_force,
wind_brake_mps2,
bool(CS.out.brakePressed),
CS.out.vEgo,
)
else:
gas_pedal_force += wind_brake_mps2 + hill_brake
self.gas = float(np.interp(gas_pedal_force * self.bosch_gas_factor, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V))
stopping = actuators.longControlState == LongCtrlState.stopping
self.stopping_counter = self.stopping_counter + 1 if stopping else 0
can_sends.extend(hondacan.create_acc_commands(self.packer, self.CAN, CC.enabled, CC.longActive, self.accel, self.gas,
self.stopping_counter, self.CP.carFingerprint))
can_sends.extend(
hondacan.create_acc_commands(self.packer, self.CAN, CC.enabled, CC.longActive, self.accel, self.gas, self.stopping_counter, self.CP.carFingerprint)
)
else:
apply_brake = np.clip(self.brake_last - wind_brake, 0.0, 1.0)
apply_brake = int(np.clip(apply_brake * self.params.NIDEC_BRAKE_MAX, 0, self.params.NIDEC_BRAKE_MAX - 1))
pump_on, self.last_pump_ts = brake_pump_hysteresis(apply_brake, self.apply_brake_last, self.last_pump_ts, ts)
pcm_override = True
can_sends.append(hondacan.create_brake_command(self.packer, self.CAN, apply_brake, pump_on,
pcm_override, pcm_cancel_cmd, alert_fcw,
self.CP.carFingerprint, CS.stock_brake))
can_sends.append(
hondacan.create_brake_command(
self.packer, self.CAN, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, alert_fcw, self.CP.carFingerprint, CS.stock_brake
)
)
self.apply_brake_last = apply_brake
self.brake = apply_brake / self.params.NIDEC_BRAKE_MAX
@@ -325,13 +390,17 @@ class CarController(CarControllerBase):
if self.frame % 10 == 0:
if self.CP.openpilotLongitudinalControl:
# On Nidec, this also controls longitudinal positive acceleration
can_sends.append(hondacan.create_acc_hud(self.packer, self.CAN.pt, self.CP, CC.enabled, pcm_speed, pcm_accel,
hud_control, hud_v_cruise, CS.is_metric, CS.acc_hud))
can_sends.append(
hondacan.create_acc_hud(self.packer, self.CAN.pt, self.CP, CC.enabled, pcm_speed, pcm_accel, hud_control, hud_v_cruise, CS.is_metric, CS.acc_hud)
)
steering_available = CS.out.cruiseState.available and CS.out.vEgo > self.CP.minSteerSpeed
reduced_steering = filtered_steering_pressed
can_sends.extend(hondacan.create_lkas_hud(self.packer, self.CAN.lkas, self.CP, hud_control, CC.latActive,
steering_available, reduced_steering, alert_steer_required, CS.lkas_hud))
can_sends.extend(
hondacan.create_lkas_hud(
self.packer, self.CAN.lkas, self.CP, hud_control, CC.latActive, steering_available, reduced_steering, alert_steer_required, CS.lkas_hud
)
)
if self.CP.openpilotLongitudinalControl:
# TODO: combining with create_acc_hud block above will change message order and will need replay logs regenerated
opendbc_repo/opendbc/car/honda/tests/test_honda.py
+50 -9
View File
@@ -8,11 +8,13 @@ from opendbc.car.honda.interface import CarInterface
from opendbc.car.honda.carcontroller import (
get_civic_bosch_modified_steering_pressed,
get_civic_bosch_modified_torque_lpf_tau,
get_honda_bosch_wind_brake_mps2,
update_honda_bosch_live_learning,
)
from opendbc.car.honda.fingerprints import FW_VERSIONS
from opendbc.car.honda.values import CAR, HONDA_BOSCH, HONDA_BOSCH_TJA_CONTROL, HondaFlags
HONDA_FW_VERSION_RE = br"[A-Z0-9]{5}-[A-Z0-9]{3}(-|,)[A-Z0-9]{4}(\x00){2}$"
HONDA_FW_VERSION_RE = rb"[A-Z0-9]{5}-[A-Z0-9]{3}(-|,)[A-Z0-9]{4}(\x00){2}$"
class TestHondaFingerprint:
@@ -52,16 +54,55 @@ class TestHondaFingerprint:
filter_s, pressed = get_civic_bosch_modified_steering_pressed(True, -1500.0, 0.8, 0.10, False)
assert pressed
def test_honda_bosch_wind_brake_curve_matches_reference_points(self):
assert get_honda_bosch_wind_brake_mps2(0.0) == pytest.approx(0.0)
assert get_honda_bosch_wind_brake_mps2(22.4) == pytest.approx(0.136)
assert get_honda_bosch_wind_brake_mps2(40.2) == pytest.approx(0.441)
def test_honda_bosch_live_learning_increases_factors_when_under_accelerating(self):
gas_factor, wind_factor, wind_factor_before_brake = update_honda_bosch_live_learning(
1.0,
1.0,
0.0,
desired_accel=1.0,
actual_accel=0.5,
gas_pedal_force=1.2,
wind_brake_mps2=0.136,
brake_pressed=False,
v_ego=22.4,
)
assert gas_factor == pytest.approx(1.012)
assert wind_factor == pytest.approx(1.000136)
assert wind_factor_before_brake == pytest.approx(wind_factor)
def test_honda_bosch_live_learning_restores_wind_factor_while_braking(self):
gas_factor, wind_factor, wind_factor_before_brake = update_honda_bosch_live_learning(
1.4,
1.1,
1.3,
desired_accel=-0.2,
actual_accel=0.0,
gas_pedal_force=-0.1,
wind_brake_mps2=0.136,
brake_pressed=True,
v_ego=22.4,
)
assert gas_factor == pytest.approx(1.4)
assert wind_factor == pytest.approx(1.3)
assert wind_factor_before_brake == pytest.approx(1.3)
def test_official_modified_eps_firmwares_restored(self):
assert b'39990-TVA,A150\x00\x00' in FW_VERSIONS[CAR.HONDA_ACCORD][(CarParams.Ecu.eps, 0x18da30f1, None)]
assert b'39990-TBA,A030\x00\x00' in FW_VERSIONS[CAR.HONDA_CIVIC][(CarParams.Ecu.eps, 0x18da30f1, None)]
assert b'39990-TGG,A020\x00\x00' in FW_VERSIONS[CAR.HONDA_CIVIC_BOSCH][(CarParams.Ecu.eps, 0x18da30f1, None)]
assert b'39990-TLA,A040\x00\x00' in FW_VERSIONS[CAR.HONDA_CRV_5G][(CarParams.Ecu.eps, 0x18da30f1, None)]
assert b'39990-TVA,A150\x00\x00' in FW_VERSIONS[CAR.HONDA_ACCORD][(CarParams.Ecu.eps, 0x18DA30F1, None)]
assert b'39990-TBA,A030\x00\x00' in FW_VERSIONS[CAR.HONDA_CIVIC][(CarParams.Ecu.eps, 0x18DA30F1, None)]
assert b'39990-TGG,A020\x00\x00' in FW_VERSIONS[CAR.HONDA_CIVIC_BOSCH][(CarParams.Ecu.eps, 0x18DA30F1, None)]
assert b'39990-TLA,A040\x00\x00' in FW_VERSIONS[CAR.HONDA_CRV_5G][(CarParams.Ecu.eps, 0x18DA30F1, None)]
def test_modified_eps_candidates_keep_support_and_restore_upstream_tunes(self):
toggles = SimpleNamespace(force_torque_controller=False, nnff=False, nnff_lite=False)
civic_fw = [CarParams.CarFw(ecu=CarParams.Ecu.eps, fwVersion=b'39990-TBA,A030\x00\x00', address=0x18da30f1, subAddress=0)]
civic_fw = [CarParams.CarFw(ecu=CarParams.Ecu.eps, fwVersion=b'39990-TBA,A030\x00\x00', address=0x18DA30F1, subAddress=0)]
civic_cp = CarInterface.get_params(CAR.HONDA_CIVIC, gen_empty_fingerprint(), civic_fw, False, False, False, toggles)
assert not civic_cp.dashcamOnly
assert civic_cp.flags & HondaFlags.EPS_MODIFIED
@@ -70,14 +111,14 @@ class TestHondaFingerprint:
assert list(civic_cp.lateralTuning.pid.kpV) == pytest.approx([0.3])
assert list(civic_cp.lateralTuning.pid.kiV) == pytest.approx([0.1])
accord_fw = [CarParams.CarFw(ecu=CarParams.Ecu.eps, fwVersion=b'39990-TVA,A150\x00\x00', address=0x18da30f1, subAddress=0)]
accord_fw = [CarParams.CarFw(ecu=CarParams.Ecu.eps, fwVersion=b'39990-TVA,A150\x00\x00', address=0x18DA30F1, subAddress=0)]
accord_cp = CarInterface.get_params(CAR.HONDA_ACCORD, gen_empty_fingerprint(), accord_fw, False, False, False, toggles)
assert not accord_cp.dashcamOnly
assert accord_cp.flags & HondaFlags.EPS_MODIFIED
assert list(accord_cp.lateralTuning.pid.kpV) == pytest.approx([0.3])
assert list(accord_cp.lateralTuning.pid.kiV) == pytest.approx([0.09])
crv_fw = [CarParams.CarFw(ecu=CarParams.Ecu.eps, fwVersion=b'39990-TLA,A040\x00\x00', address=0x18da30f1, subAddress=0)]
crv_fw = [CarParams.CarFw(ecu=CarParams.Ecu.eps, fwVersion=b'39990-TLA,A040\x00\x00', address=0x18DA30F1, subAddress=0)]
crv_cp = CarInterface.get_params(CAR.HONDA_CRV_5G, gen_empty_fingerprint(), crv_fw, False, False, False, toggles)
assert not crv_cp.dashcamOnly
assert crv_cp.flags & HondaFlags.EPS_MODIFIED
@@ -88,7 +129,7 @@ class TestHondaFingerprint:
def test_modified_civic_bosch_keeps_official_support(self):
toggles = SimpleNamespace(force_torque_controller=False, nnff=False, nnff_lite=False)
car_fw = [CarParams.CarFw(ecu=CarParams.Ecu.eps, fwVersion=b'39990-TGG,A020\x00\x00', address=0x18da30f1, subAddress=0)]
car_fw = [CarParams.CarFw(ecu=CarParams.Ecu.eps, fwVersion=b'39990-TGG,A020\x00\x00', address=0x18DA30F1, subAddress=0)]
CP = CarInterface.get_params(CAR.HONDA_CIVIC_BOSCH, gen_empty_fingerprint(), car_fw, False, False, False, toggles)